KR20110052963A - Capsule type micro-robot bidirectioanl moving system - Google Patents

Abstract

PURPOSE: A capsule type micro-robot bidirectional moving system is provided to have a simple structure and be easily controlled. CONSTITUTION: A capsule type micro-robot bidirectional moving system(100) includes a selective moving object(120), a moving unit(110), a first moving object(191), a second moving object(192), a first leg(141), and a second leg(161). The selective moving object reciprocates along with a fixed axis. The moving unit moves the selective moving object. The first moving object is arranged on the frontal side of the selective moving object. The second moving object is arranged in the rear side of the selective moving object. The first leg is coupled with the first moving object. The second leg is coupled with the second moving object. The selective moving object is selectively coupled with or separated from the first moving object and the second moving object.

Description

CAPSULE TYPE MICRO-ROBOT BIDIRECTIOANL MOVING SYSTEM}

The present invention relates to a capsule micro-robot bidirectional drive system, and more particularly to a capsule-type microrobot bidirectional drive system capable of driving forward and backward in the long-term inside.

Endoscopy has been used as a method for treating or observing organs in a living body without invading the human body. However, these traditional endoscopy techniques require highly skilled surgical techniques, and suffer from limitations for patients undergoing surgery.

Accordingly, in vivo portable system technology has been researched that can be injected into the living body through the oral cavity or the anus so as to treat or observe the organs in the living body without suffering from the patient. Representative in vivo mobile system, there is a capsule endoscope to shoot the inside of the living body when injected through the oral cavity.

The capsule endoscope includes a micro camera for capturing an internal image of a living body and a communication mechanism for transmitting the captured image to the outside. Through such an endoscope, it is possible to take a long picture inside.

However, since the capsule endoscope passively moves in the organ depending on the peristalsis of the organ, the movement speed is generally slow, and the movement speed is significantly different depending on the characteristics of the digestive organs and the patient. In addition, it is difficult to accurately adjust the position and posture in the organ of the capsule endoscope according to the situation, it is difficult to accurately diagnose.

Therefore, research into a capsule type micro robot system capable of actively moving in the organ with its own driving means is being conducted. However, to date, active mobile capsule microrobots are generally capable of traveling in one direction only.

Such a unidirectional mobile capsule type micro robot system has a limitation in that it is difficult to perform the necessary procedures or photographing by reverse driving when the robot passes the affected part or the photographing part. In order to overcome this limitation, a bidirectional mobile robot system has been developed, but there is a problem that the structure of the system is complicated and difficult to control.

The present invention is to solve the problems of the prior art as described above, it is an object to provide a capsule-type micro-robot bi-directional drive system that has a simple structure, easy to control, and can be driven in both directions forward and backward within the organ.

In order to achieve the above object, the capsule-type micro-robot driving system according to the present invention comprises a selection movable body for moving linearly forward and backward along a predetermined axis, driving means for moving the selective moving body, and A first movable body, a second movable body disposed behind the selection movable body, a first leg foldably coupled to the first movable body, and a second leg foldably coupled to the second movable body. The selection moving body may be selectively coupled or separated from the first moving body and the second moving body.

In addition, when the robot moves forward, the selection moving body is coupled to the first moving body to linearly move the first moving body along the axis, and when the robot moves backward, the selection moving body is coupled to the second moving body and thus the second moving body. May be linearly moved along the axis.

The selective mover may include a first locking pin extending forward of the selection movable body and a second locking pin extending rearward of the selective moving body, wherein the first movable body and the second movable body respectively include the first moving pin. A pin catching groove may be formed in which the first catching pin and the second catching pin are coupled or separated.

The pin catching groove may include a coupling part on which the locking pin is seated, an inlet part forming an access road to the coupling part, and an outlet part forming an outlet from the coupling part, and the locking pin enters the entrance part. The locking pin may be seated in the coupling part and coupled to the pin catching groove, and the locking pin seated on the coupling part may be drawn out through the outlet and separated from the pin catching groove.

In addition, a step may be formed at a boundary between the inlet part, the coupling part, and the outlet part.

The inlet may include a first inlet path forming a path through which the locking pin enters the pin catching groove, and a second inlet path forming a path through which the locking pin enters the coupling part. A first outlet path forming a path through which the locking pin is drawn out from the coupling part, and a second outlet path forming a path from which the locking pin is drawn out from the pin catching groove, wherein the first inlet path and the first outlet path are formed. A step may be formed at the boundary between the two inlets and the boundary between the first and second outlets.

In addition, the selection mover may include a first elastic body formed in front of the selection mover and a second elastic body formed in the rear of the selection mover.

In addition, the first elastic body and the second elastic body may be a coil spring.

The apparatus may further include a capsule for accommodating the selection moving body, the first moving body, and the second moving body therein, wherein the capsule has a first exposure hole formed in a longitudinal direction of the capsule, and the first leg and the second moving body. The legs may be exposed out of the capsule through the first exposure hole when unfolded, and may be received into the capsule when folded.

In addition, the driving means includes a motor and a shaft formed in the longitudinal direction of the capsule and rotated by the motor, the hollow portion is formed through the central portion of the selection mover, the first mover and the second mover, the shaft It may be coupled through the selective mover, the first mover and the second mover.

In addition, a screw thread is formed on an outer circumferential surface of the shaft, and a screw thread is formed on an outer circumferential surface of the hollow part of the selection movable body, and the shaft and the selection movable body may be screwed together.

In addition, a first groove may be formed on the outer circumferential surface of the selection movable body in the longitudinal direction of the capsule, and an anti-rotation protrusion may be formed on the inner circumferential surface of the capsule to engage the first groove.

In addition, the outer peripheral surface of the first movable body and the second movable body may be formed with a key groove for engaging the rotation preventing projection.

In addition, a plurality of the first legs and the second legs may be provided.

In addition, the first leg may be formed to face in the rear direction from the front of the capsule, the second leg may be formed to face in the front direction from the rear of the capsule.

The first movable body and the second movable body may each include an inner cylinder having the hollow portion formed therein and coupled to the shaft, and an outer cylinder coupled to surround the inner cylinder, and a plurality of legs on an outer circumferential surface of the inner cylinder. A locking groove is formed, and a plurality of second exposure holes are formed in the outer circumferential surface of the outer cylinder in the longitudinal direction of the capsule, and the leg locking groove and the second exposure hole are arranged to be aligned with each other, and the first leg and The second leg is disposed at a position corresponding to the position of the second exposure hole of the first movable body and the second movable body, respectively, and is hinged to the outer cylinder, so that the leg engaging groove is moved along the moving direction of the inner cylinder. The legs may be configured to be unfolded or folded by interference.

In addition, the pin catching groove is formed in the inner cylinder, the selection movable body may be selectively coupled or separated from the inner cylinder of the first movable body and the inner cylinder of the second movable body.

In addition, the pin catching groove may be formed on the outer circumferential surface of the hollow portion of the inner cylinder.

In addition, the first exposure hole of the capsule and the second exposure hole of the outer cylinder may be arranged to be aligned with each other.

In addition, the head of the capsule may be equipped with a camera.

The capsule micro-bidirectional bidirectional drive system according to the present invention is capable of moving in both directions forward and backward within the organ, and can be quickly moved, thereby effectively performing the necessary shooting or procedure.

In addition, since the number of actuators that control the movement of the robot by receiving power is minimized, the structure of the system is simple and the energy efficiency is excellent.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. Although the present invention has been described with reference to the embodiments shown in the drawings, this is described as one embodiment, whereby the technical spirit of the present invention and its core configuration and operation are not limited.

1 is an exploded perspective view of a capsule microrobot system 100 according to an embodiment of the present invention, and FIG. 2 is an assembled perspective view of a capsule microrobot system 100 according to an embodiment of the present invention. 2 shows some components cut away for convenience of illustration.

1 and 2, the capsule-type micro robot system 100 according to the present embodiment is coupled to the driving means 110 having the shaft 112 and the shaft 112 and moved along the shaft 112. The selection moving body 120 that moves in a true linear motion, and the selection moving body 120 may include a first moving body 191 and a second moving body 192 which may be selectively coupled or separated.

The driving means 110 is composed of a motor 111 and a shaft 112 connected to the motor 111 and rotated by the motor 111. A thread 113 is formed on the outer circumferential surface of the shaft 112.

The hollow part 121 is formed in the center portion of the selection moving body 120, and the thread 122 which is fastened to the thread 113 of the shaft 112 is formed on the outer circumferential surface of the hollow part 121. Therefore, the shaft 112 is coupled to the selection moving body 120 through the hollow part 121, and the shaft 112 and the selection moving body 120 are screwed together.

The first movable body 191 is disposed in front of the selection movable body 120. A hollow portion 131 is formed at the center of the first movable body 191, and the first movable body 191 is coupled to the shaft 112 through the hollow portion 131. Unlike the selection moving body 120, the hollow part 131 is not formed with a thread.

Referring to FIG. 1, the first moving body 191 includes an inner cylinder 130 having a hollow portion 131 formed at the center thereof, and an outer cylinder 140 coupled to surround the inner cylinder 130. A plurality of first legs 141 are coupled to the outer cylinder 140. The first leg 141 is hinged to the outer cylinder 140 and can be folded. The first leg 141 is disposed to face from the front to the rear direction and is coupled to the outer cylinder 140 of the first moving body 191.

The second moving body 192 is disposed behind the selection moving body 120. A hollow portion 151 is formed at the center of the second movable body 192, and the second movable body 192 is coupled to the shaft 112 through the hollow portion 151. The hollow part 151 does not have a thread.

Like the first moving body 191, the second moving body 192 includes an inner cylinder 150 having a hollow portion 151 formed in the center, and an outer cylinder 160 coupled to surround the inner cylinder 150. do. A plurality of second legs 161 are coupled to the outer cylinder 160. The second leg 161 is hinged to the outer cylinder 160 and can be folded. The second leg 161 is disposed to face in the forward direction from the rear side and is coupled to the outer cylinder 160 of the second moving body 192.

According to the present embodiment, the structures of the first moving body 191 and the second moving body 192 are the same, and the first moving body 191 and the second moving body 192 are symmetrically around the selection moving body 120. Is placed.

As shown in FIGS. 1 and 2, the robot system 100 includes a capsule 170 accommodating a selection moving body 120, a first moving body 191, and a second moving body 192 therein. According to the present embodiment, a head 180 of the capsule 170 is attached to a camera 180 capable of capturing the inside of the organ.

The capsule 170 is provided with a plurality of first exposure holes 171 formed in the longitudinal direction of the capsule 170. In the present embodiment, the number of the first exposure holes 171 is the same as the number of the first legs 141 and the second legs 161.

3 is a perspective view illustrating a state in which the first leg 141 is exposed to the outside of the capsule 170 through the first exposure hole 171. As shown in FIG. 3, when the first leg 141 and the second leg 161 are unfolded, they are exposed out of the capsule 170 through the first exposure hole 171 (the first leg 141 of FIG. 3). When folded, it is received into the capsule 170 (see second leg 161 of FIG. 3). In addition, the first leg 141 is formed so that the end exposed outside the capsule 170 toward the rear from the front of the capsule 170, the second leg 161 is the end exposed outside the capsule 170 capsule It is formed to face in the forward direction from the rear of the 170.

According to the present embodiment, since the selection moving body 120 is screwed with the shaft 112, when the shaft 112 is rotated by the motor 111, the selection moving body 120 moves forward and backward along the shaft 112. do. In this case, in order for the selection moving body 120 to move along the shaft 112 without being rotated by the rotation of the shaft 112, the rotation of the selection moving body 120 must be constrained.

4 is a cross-sectional view taken along the cut line A-A of FIG. 2. As shown in FIG. 4, in order to restrain the rotation of the selection moving body 120, an anti-rotation protrusion 172 extends in the longitudinal direction of the capsule 170 on the inner circumferential surface of the capsule 170 and the selection moving body 120. In the outer circumferential surface of the) is formed in the longitudinal direction of the selection moving body 120, the groove 123 is engaged with the rotation preventing projection 172. With this structure, the selection moving body 120 only rotates back and forth by the rotation of the shaft 112 and does not rotate about the shaft 112.

On the other hand, as described above, the threads are not formed on the outer circumferential surfaces of the hollow portion 131 of the first movable body 191 and the hollow portion 151 of the second movable body 120. Therefore, the first movable body 191 and the second movable body 120 are not affected by the rotation of the shaft 120. That is, when the motor 111 rotates the shaft 120, only the selected moving body 120 moves linearly along the shaft 112, and the first moving body 191 and the second moving body 192 are the shaft 112. Do not exercise by the rotation. However, in order to prevent the first movable body 191 and the second movable body 192 from freely rotating on the shaft 112 under the influence of the rotational force of the shaft 112 penetrating the center thereof, the first movable body 191 In the outer circumferential surface of the) and the second movable body 192, a key groove engaged with the anti-rotation protrusion 172 may be formed in the longitudinal direction of the first movable body 191 and the second movable body 192, respectively.

According to the present embodiment, for the forward and backward driving of the robot system 100, the selection moving body 120 moving forward and backward along the shaft 112 is the first moving body 191 or the second moving body 192. Optionally bind to. Specifically, when the robot system 100 moves forward, the selection moving body 120 is coupled to the first moving body 191 so that the selection moving body 120 and the first moving body 191 linearly move together along the shaft 112. When the robot system 100 moves backward, the selection moving body 120 is coupled to the second moving body 192 so that the selection moving body 120 and the second moving body 192 linearly move together along the shaft 112.

Hereinafter, referring to FIGS. 5 and 6, the forward and backward bidirectional driving principle of the robot system will be described in detail.

FIG. 5 is a conceptual diagram illustrating the forward driving of the robot system 100 according to the present exemplary embodiment, and FIG. 6 is a conceptual diagram illustrating the backward driving of the robot system 100 according to the present exemplary embodiment.

First, referring to FIG. 5, the forward driving principle of the robot system 100 will be described.

5A and 5B, the moving member 120 moves along the shaft 112 toward the first moving member 191 (solid arrow direction) for the forward driving of the robot system 100. When the selection moving body 120 moves in contact with the first moving body 191, the selection moving body 120 is coupled to the first moving body 191.

Next, as shown in FIGS. 5B and 5C, the first leg 141 is unfolded and exposed out of the capsule 170. The exposed first leg 141 supports the inner wall of the organ 200 (see FIG. 5C).

In this state, the selection moving body 120 moves to the right as shown in FIG. 5D. In this case, the selection moving body 120 and the first moving body 191 are coupled to each other, and the first leg 141 of the first moving body 191 is supporting the inner wall of the organ 200. Therefore, the selection moving body 120 and the first moving body 191 remain stationary in place, and the entire capsule 170 moves forward by the reaction of the force acting on the selection moving body 120 (dotted arrow direction). ). In this case, the rear surface of the selection moving body 120 controls the position of the selection moving body 120 so as not to be coupled with the second moving body 192.

In a state in which the capsule 170 is advanced as shown in FIG. 5D, the first leg 141 is folded and accommodated inside the capsule 170 as shown in FIG. 5E. In the state where the first leg 141 is folded, the selection moving body 120 moves in the left direction (solid line arrow direction) as shown in FIG. 5F. At this time, since the first leg 141 is folded and accommodated into the capsule 170, the selection moving body 120 and the first moving body 191 move forward to the left without any resistance inside the capsule 170.

When the robot system 100 is to be continuously moved inside the organ 200, the process illustrated in FIGS. 5B to 5F is repeatedly performed. When the robot system 100 is no longer moved forward or backward, the selection moving body 120 is separated from the first moving body 191 as shown in FIG. 5G.

Hereinafter, the reverse driving principle of the robot system 100 will be described with reference to FIG. 6.

6A and 6B, the moving member 120 moves along the shaft 112 toward the second moving member 192 (solid arrow direction) for backward driving of the robot system 100. When the selection moving body 120 moves and contacts the second moving body 192, the selection moving body 120 is coupled to the second moving body 192.

Next, as shown in FIGS. 6B and 6C, the second leg 161 is unfolded and exposed out of the capsule 170. The exposed second leg 161 supports the inner wall of the organ 200 (see FIG. 6C).

In this state, as shown in FIG. 6D, the selection moving body 120 moves in the right direction. In this case, the selection moving body 120 and the second moving body 192 are coupled to each other, and the second leg 161 of the second moving body 192 is supporting the inner wall of the organ 200. Therefore, the selection moving body 120 and the second moving body 192 remain stationary in place, and the entire capsule 170 is moved backward by the reaction of the force acting on the selection moving body 120 (dotted arrow direction). ). At this time, the front surface of the selection moving body 120 controls the position of the selection moving body 120 so as not to be coupled with the first moving body 191.

In a state in which the capsule 170 is advanced as shown in FIG. 6D, the second leg 161 is folded and accommodated inside the capsule 170 as shown in FIG. 6E. In the state where the second leg 161 is folded, as shown in FIG. 6F, the selection moving body 120 again moves to the right direction (solid arrow direction). At this time, since the second leg 161 is folded and accommodated in the capsule 170, the selection moving body 120 and the second moving body 192 move backward without any resistance in the capsule 170.

In order to continuously move the robot system 100 in the inside of the organ, the process illustrated in FIGS. 6B to 6F may be repeatedly performed. When the robot system 100 is no longer backed up or moved forward, the selection moving body 120 is separated from the second moving body 192 as shown in FIG. 6G.

As described above, the robot system 100 according to the present embodiment includes an operation of detaching and attaching the selection moving body 120, the first moving body 191 and the second moving body 192, and the first legs 141 and the first moving body. The two legs 161 are controlled to be folded to drive forward and backward. In order to miniaturize the system and improve energy efficiency, the robot system 100 according to the present exemplary embodiment performs the detachable operation and the folding operation using the mechanical link mechanism.

Hereinafter, a configuration for attaching and detaching the selection moving body 120 and the first moving body 191 to each other and a first leg 141 of the first moving body 191 will be described with reference to FIGS. 7 and 8. .

7 is a perspective view of the selection moving body 120 according to the present embodiment.

Referring to FIG. 7, the selection moving body 120 includes a first locking pin 301 extending forward of the selection moving body 120 and a second locking pin 302 extending rearward of the selection moving body 120. It includes. In addition, the selection moving body 120 includes a first elastic body 303 formed in front of the selection moving body 120 and a second elastic body 304 formed in the rear of the selection moving body 120. According to the present embodiment, the first elastic body 303 and the second elastic body 304 are coiled springs.

8 is an exploded perspective view of the first movable body 191 according to the present embodiment.

Referring to FIG. 8, a plurality of leg engaging grooves 132 are formed along the circumferential direction on the outer circumferential surface of the inner cylinder 130 of the first movable body 191. The leg engaging groove 132 serves to secure a space for accommodating a part of the first leg 141. According to the present embodiment, the leg engaging groove 132 is vertically dug in and formed so that its bottom is flat.

In the outer circumferential surface of the outer cylinder 140, the groove 146 is formed in the rotational direction of the first leg 141 so that the first leg 141 can be rotated by a predetermined rotation angle, so that the wire 145 is placed A hinge groove 143 is formed on the outer circumferential surface thereof. In addition, a second exposure hole 142 is formed through a portion of the inner side surface of the recess 146 so that a part of the first leg 141 is accommodated in the engaging groove 132 of the inner cylinder 130. The leg catching groove 132 and the second exposure hole 142 are arranged to be aligned with each other. The second exposure hole 142 is arranged to be aligned with the first exposure hole 171 (see FIG. 1) of the capsule 170 so that the first leg 141 is the first exposure hole 171 of the capsule 170. Through the capsule 170 to be spread out.

The hinge hole 144 formed in the first leg 141 passes through one wire 145, and a part of the first leg 141 penetrates through the second exposure hole 142 of the outer cylinder 140. After that, the plurality of first legs 141 are coupled to the outer cylinder 140 by placing the wire 145 in the hinge groove 143 of the outer cylinder 140. Through such a structure, the first leg 141 is hingedly rotatably fixed to each groove 146 of the outer cylinder 140.

A portion of the first leg 150 inserted through the second exposure hole 142 is accommodated in the leg engaging groove 132 of the inner cylinder 130 installed in the center of the outer cylinder 140. Accordingly, the first leg 141 is unfolded or folded by the foot engaging groove 132 interfering with the end of the first leg 141 according to the moving direction of the inner cylinder 130.

On the other hand, the pin engaging groove 133 is formed on the outer circumferential surface of the hollow portion 131 of the inner cylinder 130 (see Fig. 1). The first locking pin 301 of the selection movable body 120 is engaged with the pin catching groove 133 of the first movable body 191.

The first moving member 191 and the selection moving member 120 are coupled by engaging the first locking pin 301 with the pin locking groove 133 of the first movable member 191, and the first locking pin 301 is made of a first moving member 191. 1 is separated by separating from the pin catching groove 133 of the movable body 191.

9A is a conceptual diagram illustrating a state in which the first catching pin 301 is coupled to the pin catching groove 133 of the first movable body 191, and FIG. 9B illustrates that the first catching pin 301 is the first movable body 191. ) Is a conceptual diagram illustrating a state of being separated from the pin catching groove 133.

As shown in FIGS. 9A and 9B, the pin catching groove 133 has a coupling part 210 in which the first locking pin 301 is seated, and an inlet part 220 forming an access path of the pin into the coupling part 210. ) And an outlet portion 230 forming a passage of the pin.

As shown in FIG. 9A, when the first moving body 191 and the selection moving body 120 are coupled, the first locking pin 301 enters the inlet part 220 and is seated on the coupling part 210. On the contrary, as shown in FIG. 9B, when the first moving body 191 and the selected moving body 120 are separated, the first locking pin 301 seated on the coupling part 210 is drawn out through the outlet 230. do.

Hereinafter, referring to FIGS. 10A to 10I, the principle of the operation of detaching and attaching the selected movable body 120 and the first movable body 191 to each other and the first leg 141 from the above-described configuration will be described. do. 10A to 10I are conceptual diagrams illustrating the detachable operation of the selection moving body 120 and the first moving body 191 and the folding operation principle of the first leg 141 step by step.

First, as shown in FIG. 10A, the selection moving body 120 is moved in the direction of the first moving body 191 (left direction). As shown in FIG. 10B, when the selection moving body 120 is maximally moved in the direction of the first moving body 191 (left direction), the first elastic body 303 in contact with the rear surface of the first moving body 191 contracts. The first catching pin 301 enters the pin catching groove 133 through the inlet portion 220.

Next, as shown in FIG. 10C, when the selection moving body 120 is moved to the right direction, the first locking pin 301 is seated on the coupling part 210, so that the selection moving body 120 and the first moving body ( 191 is coupled to the inner cylinder 130. At this time, if the selection moving body 120 continues to move in the right direction, the inner cylinder 130 moves to the right together with the selection moving body 120. As the inner cylinder 130 moves to the right side, the upper wall of the leg catching groove 132 pushes the end of the first leg 141 to the right, and the first leg is caused by the interference of the leg catching groove 132. 141 is unfolded.

As shown in FIG. 10D, when the selection moving body 120 continues to move in the right direction, the first leg 141 is unfolded at the maximum angle and supports the inner wall of the organ 200. At this time, as shown in FIG. 10E, if the selection moving body 120 continues to move in the right direction, the entire capsule 170 is advanced in the left direction (in the dotted arrow direction) (see FIG. 5D).

As shown in FIG. 10F, when the selection moving body 120 is moved to the left direction, the first elastic body 303 supports the first locking pin 301 not to be separated from the pin locking groove 133. Therefore, the inner cylinder 130 moves to the left direction by the selection moving body 120. As the inner cylinder 130 moves in the left direction, the lower wall of the leg engaging groove 132 pushes the first leg 141 to start folding the first leg 141.

As shown in FIG. 10G, when the selection moving body 120 continues to move to the left, the first leg 141 is completely folded. If the selection moving body 120 continues to move to the left in a state where the first leg 141 is completely folded, the inner cylinder 130 pushes the outer cylinder 140 to move to the left. As a result, the selective mover 120 and the first mover 191 move forward in the capsule 170 in the left direction at the same time.

As shown in FIG. 10H, when the selection moving body 120 and the first moving body 191 continue to move to the left in the state in which the moving member 120 moves to the end of the head of the capsule 170, the first elastic body 303 is compressed and the first locking pin 301 moves to the outlet 230.

In this case, as shown in FIG. 10I, when the selection moving body 120 is moved to the right direction again, the first locking pin 301 is released from the pin locking groove 133, and thus the selection moving body 120 and the first moving body 120 are moved. The moving bodies 191 are separated from each other.

As described above, the selection moving body 120 and the first moving body 191 are coupled or separated as the first locking pin 301 and the pin locking groove 133 are coupled or separated from each other. Therefore, in order for the system to operate properly under the desired control, it is necessary to constantly perform the coupling or detachment operation of the first locking pin 301 and the pin locking groove 133.

According to the present embodiment, the first locking pins 301 are pinned only through the inlet 220 so that the first locking pins 301 and the pin locking grooves 133 are constantly coupled or separated. Entering the 133 is seated on the coupling portion 210, and forms the pin catching groove 133 so that the first catching pin 301 can escape from the pin catching groove 133 only through the outlet 230. .

Specifically, the pin catching groove 133 according to the present embodiment is formed to have a step of several layers. 11 is a perspective view showing the shape of the pin catching groove 133 according to the present embodiment.

As illustrated in FIG. 11, the inlet part 220 defines a first inlet path 221 and an entrance path to the coupling part 210, which form an entry path into the pin catching groove 133 of the first catching pin. The second inlet 222 is formed. The outlet part 220 is a first outlet path 231 which forms a withdrawal path from which the first locking pin is separated from the coupling part 210, and a second outlet path which forms a withdrawal path from the pin catching groove 133. It consists of 232.

As shown in FIG. 11, a step 241 is formed at the boundary between the first inlet 221 and the second inlet 222, and the second inlet 222 and the first outlet 231 are formed. A step 242 is also formed at the boundary of. In addition, a step 243 is formed at the boundary between the first exit passage 231 and the second exit passage 232, and a step 244 is also formed at the boundary between the second exit passage 232 and the first entrance passage 221. ) Is formed.

9A and 9B, the first catching pin 301 entering the pin catching groove 133 may not enter through the second exit passage 232 by the step 244, and may enter the first inlet. Enter through 221. In addition, the first locking pin 301 entering the second inlet 222 does not return to the first inlet 221 again due to the step 241, and the coupling part along the second inlet 222. Seated at 210 (see FIGS. 10B and 10C). By the same principle, the first catching pin 301 seated on the coupling part 210 does not return to the path in which it entered, but pins through the first outlet 231 and the second outlet 232 sequentially. It is separated from the groove 133.

According to this embodiment, in order to allow the first catching pin 301 to move along the stepped pin catching groove 133 as described above, the first catching pin 301 may be bent up and down and left and right at its distal end. To have elasticity. However, the first locking pin 301 has a certain rigidity, so that the selected moving body 120 and the first moving body 191 are firmly coupled in the state where the first locking pin 301 is seated on the coupling part 210. I can keep it.

In the above, the configuration and the principle of performing the operation of detaching the selected moving body 120 and the first moving body 191 from each other, and the operation of folding the first leg 141 has been described.

In this embodiment, the first moving body 191 and the second moving body 192 have the same configuration. For the engagement or separation relationship between the second locking pin 302 of the selection movable body 120 and the pin locking groove formed in the second movable body 192, and for folding the second leg 161 of the second movable body 192. It will be understood by those skilled in the art that the configuration and operation are performed on the same principle as described above. Therefore, the detailed description is omitted.

1 is an exploded perspective view of a capsule microrobot system 100 according to an embodiment of the present invention.

2 is an assembled perspective view of the capsule-type microrobot system 100 according to an embodiment of the present invention.

3 is a perspective view illustrating a state in which the first leg 141 is exposed to the outside of the capsule 170 through the first exposure hole 171.

4 is a cross-sectional view taken along the cut line A-A of FIG. 2.

5 is a conceptual diagram illustrating a step-by-step driving of the robot system 100 according to an embodiment of the present invention.

FIG. 6 is a conceptual diagram illustrating stepwise driving of the robot system 100 according to an exemplary embodiment of the present invention.

7 is a perspective view of the selection moving body 120 according to an embodiment of the present invention.

8 is an exploded perspective view of the first movable body 191 according to the embodiment of the present invention.

9A is a conceptual diagram illustrating a state in which the first catching pin 301 is coupled to the pin catching groove 133 of the first movable body 191 according to an embodiment of the present invention.

9B is a conceptual diagram illustrating a state in which the first catching pin 301 is separated from the pin catching groove 133 of the first movable body 191 according to an embodiment of the present invention.

10A to 10I illustrate the detachable operation of the selected moving body 120 and the first moving body 191 and the folding operation of the first leg 141 of the robot system 100 according to an exemplary embodiment of the present invention. It is a conceptual diagram.

11 is a perspective view showing the shape of the pin catching groove 133 according to an embodiment of the present invention.

Claims (20)

A selection movable body which linearly moves forward and backward along a predetermined axis; Drive means for moving the selection moving body; A first movable body disposed in front of the selected movable body; A second movable body disposed behind the selection movable body; A first leg foldably coupled to the first movable body; And A second leg foldably coupled to the second movable body, The capsular micro-robot bidirectional drive system of claim 1, wherein the selective moving body can be selectively coupled or separated from the first moving body and the second moving body. The method of claim 1, When the robot moves forward, the selection moving body is coupled to the first moving body to linearly move the first moving body along the axis. The capsular micro robot bidirectional drive system of claim 2, wherein the selection moving body is coupled to the second moving body to linearly move the second moving body along the axis. The method of claim 2, The selection mover includes a first catching pin extending toward the front of the selection mover and a second catching pin extending to the rear of the selection mover. The first movable body and the second movable body capsule type micro-robot bidirectional drive system, characterized in that the first locking pin and the second locking pin is engaged with the pin engaging groove is formed, respectively. The method of claim 3, The pin catching groove includes a coupling portion on which the locking pin is seated, an inlet portion forming an access road to the coupling portion, and an outlet portion forming a discharge path from the coupling portion. The locking pin enters the inlet part and is seated on the coupling part to be coupled to the pin catching groove, and the locking pin seated on the coupling part is drawn out through the outlet part to be separated from the pin locking groove. Encapsulated micro robot bidirectional drive system. The method of claim 4, wherein Capsule type micro-robot bidirectional drive system, characterized in that the step is formed on the boundary between the inlet, the coupling and the outlet. The method of claim 5, The inlet part includes a first inlet path forming a path through which the locking pin enters the pin catching groove, and a second inlet path forming a path through which the locking pin enters the coupling part. The outlet portion includes a first outlet path forming a path through which the locking pin is drawn out from the coupling part, and a second outlet path forming a path from which the locking pin is drawn out from the pin catching groove. And a step is formed at a boundary between the first inlet passage and the second inlet passage and a boundary between the first outlet passage and the second outlet passage. The method of claim 6, The selective moving body is a capsule type micro-robot bidirectional drive system, characterized in that it comprises a first elastic body formed in front of the selection movable body and the second elastic body formed in the rear of the selection moving body. The method of claim 7, wherein The first and second elastic bodies are capsule type micro-robot bidirectional drive system, characterized in that the coiled spring. The method of claim 8, Further comprising a capsule for receiving the selection moving body, the first moving body and the second moving body therein, The capsule has a first exposure hole formed in the longitudinal direction of the capsule, And the first leg and the second leg are exposed out of the capsule through the first exposure hole when they are unfolded, and are accommodated into the capsule when folded. 10. The method of claim 9, The driving means includes a motor and a shaft formed in the longitudinal direction of the capsule and rotated by the motor, The hollow portion is formed through the central portion of the selective mover, the first mover and the second mover, Capsular micro-robot bidirectional drive system characterized in that the shaft is coupled through the selection moving body, the first moving body and the second moving body. The method of claim 10, A thread is formed on the outer circumferential surface of the shaft, On the outer circumferential surface of the hollow portion of the selected movable body is formed a thread that is fastened to the thread of the shaft, And the shaft and the selection moving body are screwed together. The method of claim 11, A capsule-type micro robot bidirectional drive system, characterized in that the outer peripheral surface of the selection movable body is formed with a first groove in the longitudinal direction of the capsule, the inner circumferential surface of the capsule is formed with a rotation preventing projection engaging with the first groove. The method of claim 12, Capsule type micro-robot bidirectional drive system, characterized in that the outer circumferential surface of the first movable body and the second movable body is formed with a key groove engaging with the rotation preventing projection. The method of claim 13, The capsule type micro-robot bidirectional drive system, characterized in that a plurality of the first leg and the second leg is provided. The method of claim 14, The first leg is formed to face in the rear direction from the front of the capsule, And the second leg is formed to face in the forward direction from the rear of the capsule. The method of claim 15, The first movable body and the second movable body each includes an inner cylinder formed with the hollow portion coupled to the shaft, and an outer cylinder coupled to surround the inner cylinder, A plurality of leg engaging grooves are formed on the outer circumferential surface of the inner cylinder, A plurality of second exposure holes are formed in the outer circumferential surface of the outer cylinder in the longitudinal direction of the capsule, The leg catching groove and the second exposure hole are arranged to be aligned with each other, The first leg and the second leg is disposed at a position corresponding to the position of the second exposure hole of the first movable body and the second movable body, respectively, is hinged to the outer cylinder, Capsule type micro-robot bidirectional drive system, characterized in that configured to be unfolded or folded by interfering with the leg in the interlocking groove according to the movement direction of the inner cylinder. The method of claim 16, The pin catching groove is formed in the inner cylinder, The capsular micro-robot bidirectional drive system of claim 1, wherein the selection movable body can be selectively coupled or separated from the inner cylinder of the first movable body and the inner cylinder of the second movable body. The method of claim 17, The pin catching groove is formed on the outer circumferential surface of the hollow portion of the inner cylinder capsule micro-bidirectional bidirectional drive system. The method of claim 18, The capsule-type micro robot bidirectional drive system, characterized in that the first exposure hole of the capsule and the second exposure hole of the outer cylinder are arranged to be aligned with each other. The method of claim 19, Capsule type micro-robot bidirectional drive system, characterized in that the camera is mounted to the head of the capsule.

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